繰り返し学習制御と機能的電気刺激によるペダリング運動

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  • Repetitive Learning Control for Functional Electrical Stimulation Cycling with Antagonistic Biarticular Muscle

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<p>This paper deals with repetitive learning control for functional electrical stimulation (FES) pedaling exploiting pedal force direction with antagonistic biarticular muscles . FES pedaling motion with muscle contraction is expressed as an Euler Lagrange system. Asymptotic tracking for the closed-loop system by the proposed controller is analyzed through Lyapunov-based methods. Experiments were conducted in three healthy individuals to show the validity of the proposed method from a practical point of view.</p>

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